Proportional-Integral-Type Event-Triggered Coupled Attitude and Orbit Tracking Control Using Dual Quaternions

Li, Chunhui; Zou, Hengguang; Shi, Dawei; Song, Jiliang; Wang, Junzheng

doi:10.1109/taes.2022.3143475

Cited by 12 publications

(3 citation statements)

References 40 publications

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“…) is uniformly continuous with respect to time. Substituting Equation ( 16) into (11), it follows that Û V B is uniformly continuous due to the fact that all the terms involved are uniformly continuous. By using Barbalat's lemma again, one can conclude that Û V B → 0, and thus, Û ρ 1 ( Û B, 1 − α 1 ) → 0, which implies that Û B → 0.…”

Section: Twistor-based Finite-time Control Law Designmentioning

confidence: 99%

“…For the leader-following formation of two spacecraft, the relative pose of the spacecraft can be represented in a unified way by employing dual quaternions, which can simplify the design of the control law for 6-DOF formations [10]. Li et al [11] investigated the coupled pose control of 6-DOF spacecraft motion using dual quaternions, and an event-triggered PI-like control algorithm with an active disturbance rejection strategy was proposed for pose tracking, which considers the separate time scale of the 6-DOF system and thus possesses a lower communication rate than that of controllers using a coupled-triggering strategy. A dual-quaternion-based extended Kalman filter was proposed first in Ref.…”

Section: Introductionmentioning

confidence: 99%

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Homogeneous Finite-Time Pose Tracking of Leader–Following Spacecraft Formation Using a Twistor-Based Model

Guo,

Chen,

Zhang

et al. 2023

Electronics

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For integrated pose control of six-degree-of-freedom (6-DOF) leader–following spacecraft formations, the coupled relative pose between two spacecraft is described by a unified model in the framework of twistors, based on which a finite-time control law is devised for the 6-DOF dynamic system. Firstly, some necessary coordinate frames are defined, and then, relative 6-DOF dynamics of the follower spacecraft with respect to the desired frame are modeled by using twistors. Secondly, an integrated pose controller is designed for the 6-DOF formation that takes full advantage of homogeneous theory to guarantee finite-time stability. Finally, numerical simulations are carried out to validate the effectiveness of the proposed controller. Developing integrated 6-DOF formation control law based on twistors is more straightforward than conventional methods, and the finite-time algorithm achieves stronger robustness than asymptotic ones.

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Section: Twistor-based Finite-time Control Law Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Homogeneous Finite-Time Pose Tracking of Leader–Following Spacecraft Formation Using a Twistor-Based Model

Guo,

Chen,

Zhang

et al. 2023

Electronics

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show abstract

“…Thus, the first and second rotations are done correctly, while the rotation around the axis X is impossible because the three rotations axis become coplanar. Dual quaternions algebra benefits have been argued in many works comprising dynamics modeling of a mobile manipulator [5], stabilization of a rigid body motion, multiple body interaction [6], inverse kinematic study of 6-DOF of robot arm and tracking control [7,8], etc. Valverde et al [9] presented a serial manipulator dynamics using the recursive Newton-Euler based on dual quaternions.…”

Section: Introductionmentioning

confidence: 99%

Kinematics and Dynamics Modeling of 7 Degrees of Freedom Human Lower Limb Using Dual Quaternions Algebra

Benhmidouch¹,

Moufid²,

Omar³

2023

Preprint

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Denavit and Hartenberg based methods as Cardan, Fick and Euler angles describe the position and orientation of an end-effector in Three Dimensional (3D) space. However, the generation of unrealistic human posture in joint space constitutes the weak point to these methods because they impose a well-defined rotations order. A method to handle the transformation homogeneous performance uses the dual quaternions. Quaternions have proven themselves in many fields as providing a computational efficient method to represent a rotation, and yet, they can not deal with the translations in 3D-space. The dual numbers can extend quaternions to dual quaternions. This paper exploits dual quaternions theory to provide a fast and accurate solution to the forward, inverse kinematics and recursive Newton-Euler dynamics algorithm for 7 Degree of Freedom (DOF) human lower limb in 3D-space.

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Dual-quaternion-based satellite pose estimation and control with event-triggered data transmission

Zou

Shi

et al. 2023

Sci. China Technol. Sci.

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Proportional-Integral-Type Event-Triggered Coupled Attitude and Orbit Tracking Control Using Dual Quaternions

Cited by 12 publications

References 40 publications

Homogeneous Finite-Time Pose Tracking of Leader–Following Spacecraft Formation Using a Twistor-Based Model

Homogeneous Finite-Time Pose Tracking of Leader–Following Spacecraft Formation Using a Twistor-Based Model

Kinematics and Dynamics Modeling of 7 Degrees of Freedom Human Lower Limb Using Dual Quaternions Algebra

Dual-quaternion-based satellite pose estimation and control with event-triggered data transmission

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